Robust integral back-stepping control for a quadrotor: experiments and simulation Online publication date: Wed, 23-Jan-2019
by Scott Cardimen; Mohamed A. Zohdy; Moath Sababha; Andrew Rusek
International Journal of Intelligent Systems Design and Computing (IJISDC), Vol. 2, No. 3/4, 2018
Abstract: This paper presents a robust integral back-stepping (RIB) control method applied to a constructed quadrotor prototype. The controller provides stabilisation of attitude and motion under various assumptions. The controller is robust to reject external disturbances and compensate for potential parameter uncertainties. An analysis of the benefits of the proposed control method is presented by comparison to classic linear control methods. This analysis is supported by simulation and implementation on a physical prototype. The simulation parameters match that of the prototype to provide a consistent means of validation.
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Intelligent Systems Design and Computing (IJISDC):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email subs@inderscience.com